CN110617246B - Two-dimensional half-bridge type electrohydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling - Google Patents
Two-dimensional half-bridge type electrohydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling Download PDFInfo
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- 238000005516 engineering process Methods 0.000 description 10
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
- F16K11/0655—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with flat slides
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
- F16K11/07—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0603—Multiple-way valves
- F16K31/061—Sliding valves
- F16K31/0613—Sliding valves with cylindrical slides
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
- F16K31/06—Actuating devices; Operating means; Releasing devices electric; magnetic using a magnet, e.g. diaphragm valves, cutting off by means of a liquid
- F16K31/0675—Electromagnet aspects, e.g. electric supply therefor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Electromagnetism (AREA)
- Magnetically Actuated Valves (AREA)
Abstract
The two-dimensional half-bridge electro-hydraulic proportional reversing valve based on the Halbach array bidirectional magnetic suspension coupling comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and the Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core and a valve body, the left end of the valve body is provided with the bidirectional proportional electromagnet, the left end of the valve core is provided with the Halbach array bidirectional magnetic suspension coupling, and the valve core is connected with the bidirectional proportional electromagnet through the Halbach array bidirectional magnetic suspension coupling; the pole shoe surface of the yoke is stuck with a yoke Halbach array magnetic sheet, and the upper and lower side wing surfaces of the inclined-wing rotor corresponding to the yoke pole shoe surface are stuck with Halbach array magnetic sheets, so that a magnetic repulsive force is formed, and the inclined-wing rotor can be suspended in the middle of the yoke purely by magnetic force without any mechanical structure; the left end high-pressure round hole, the right end high-pressure round hole and the low-pressure round hole at the left end of the valve core and the sensing channel form a four-way rotary valve, and are connected in series to form a hydraulic resistance half-bridge to control the pressures of the left sensitive cavity and the right sensitive cavity at the two ends of the valve core.
Description
Technical Field
The invention belongs to a flow and reversing control valve for an electro-hydraulic proportional control technology in the field of fluid transmission and control, and particularly relates to a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling.
Background
The electrohydraulic servo control technology has taken up high-end positions in electromechanical transmission and control technology by the remarkable characteristics of high power-weight ratio, large output force (moment), excellent static and dynamic characteristics and the like since the forty of the last century, and is mainly applied to various strategic industrial occasions such as aerospace, military weapons, ships, large power stations, steel and the like, thereby achieving great success. However, the electrohydraulic servo valve is extremely sensitive to oil pollution, harsh in application and maintenance conditions, and extremely harsh in requirements for processing and assembling precision of key parts by pursuing zero characteristic to meet closed-loop control, so that the electrohydraulic servo valve is difficult to accept by industry, and a control technology which is reliable in performance, high in quality and low in price, and has control precision and response characteristics capable of meeting actual requirements of an industrial control system is generally expected, and the electrohydraulic proportional control technology is generated in the background. In 1967, the switzerland buchnger company used a proportional electromechanical converter (proportional electromagnet) for industrial hydraulic valves for the first time, and the KL-type proportional reversing valve produced was considered as the earliest proportional valve in the world. By the seventies and the eighties of the twentieth century, the static and dynamic characteristics of the proportional valve are greatly improved due to the application of various feedback and electric correction means such as pressure, flow, displacement and dynamic pressure, and the electro-hydraulic proportional control technology is deeply integrated with the latest plug-in technology, so that the electro-hydraulic proportional control technology enters a golden age. To date, almost all conventional flow, pressure and reversing valves can find corresponding electro-hydraulic proportional valve products, which are increasingly widely used in industrial production.
The proportional reversing valve is required to realize continuous proportional positioning control on the displacement (position) of the valve core, and the simplest mode is to linearly convert the thrust output by the proportional electromagnet into the displacement of the valve core through a spring, which is also the basic working principle of a single-stage or direct-acting proportional reversing valve or a flow valve. However, the hydraulic force (also called Bernoulli force) acts on the valve core due to the Bernoulli effect, and the magnitude of the force is proportional to the product of the opening area and the pressure drop of the valve port, so that the proportional characteristic of the valve is obviously deteriorated when the pressure difference of the valve port is increased by the direct-acting proportional valve, and even the abnormal phenomenon that the flow rate passing through the proportional valve is reduced when the pressure difference of the valve port is increased is caused. Therefore, the principle of controlling the valve core position according to the balance of the electromagnet thrust and the spring force is only suitable for a small-flow proportional valve, and the maximum working flow of practical application is generally below 15L/min (the maximum working pressure is 21 MPa). In addition, in order to realize the balance of axial hydrostatic force, the direct-acting proportional reversing valve or the flow valve adopts a slide valve structure, and is easy to be influenced by friction force and oil pollution to generate a clamping stagnation phenomenon. If a direct-acting proportional reversing valve or a flow valve is to obtain better proportional characteristics, the matching between the valve core and the valve core hole must achieve higher precision, especially cylindricity which is sensitive to friction force. For example, the precision of the valve core of the phi 6 drift diameter proportional valve of a company abroad is within 1 micrometer, the cylindricity is similar to the precision requirement of the valve core of a servo valve, and the precision is difficult for common hydraulic part manufacturers in China, so that the valve core is one of the main reasons for non-ideal performance of the domestic direct-acting proportional reversing valve. The valve core position is measured and closed-loop controlled by adopting a linear displacement sensor (LVDT) to form the electric feedback type direct-acting proportional reversing valve, so that the positioning rigidity and the control precision of the valve core can be improved to a great extent, and finally, the electric feedback type direct-acting proportional valve can be applied to closed-loop control of a hydraulic system like a servo valve (the valve is called a proportional servo valve), but is limited by magnetic saturation, the output force of a proportional electromagnet is limited, the problem of influence of hydrodynamic force under high pressure and large flow can not be fundamentally solved, and the flow saturation phenomenon still occurs under the working state of high pressure (large pressure difference) and large flow.
The hydraulic influence is eliminated, the overflow capacity of the hydraulic valve is improved, and the most fundamental method is to adopt a pilot control technology. In 1936, the U.S. engineer Harry Vickers invented the pilot-operated relief valve in order to solve the problem that the direct-operated relief valve cannot realize the pressure control of a high-pressure and high-flow system due to the influence of hydraulic power, and the basic idea is to use a pilot-operated static pressure with smaller drift diameter to drive the main valve core to move, so that the hydraulic thrust is much larger than the hydraulic power generated when oil flows through the valve port, and the adverse influence on the movement and control of the main valve core is eliminated. The concept of pilot control is widely applied to the design of other hydraulic valves later, so that the high-pressure and large-flow control of a hydraulic system becomes realistic. The latter electro-hydraulic servo control elements also follow the design concept of pilot control, and also comprise electro-hydraulic proportional valves.
Among the many pilot stage structure innovations, the flow amplification mechanism based on the design of Two degrees of freedom (Two dimension, 2D or Two dimensions) of the valve core combines the originally separated pilot stage and power stage into one, is integrated on a single valve core, has simple structure and quick dynamic response, and more importantly, greatly improves the pollution resistance of the valve. Ruan Jian and the like propose a direct-acting-pilot control integrated 2D electro-hydraulic proportional reversing valve, and the 2D valve and a proportional electromagnet are combined through a pressure torsion amplification technology, so that the direct-acting-pilot control integrated 2D electro-hydraulic proportional reversing valve has the advantages of both the direct-acting-pilot control electro-hydraulic proportional reversing valve and the pilot control electro-hydraulic proportional reversing valve, is high in pollution resistance, has no special high requirement on machining precision, and has good large-scale production and application prospects. The main problem of the valve is that the pressure-torsion coupling with the pressure-torsion amplifying function is a roller inclined plane mechanical mechanism, which has nonlinear links such as friction force, assembly clearance and the like, and can greatly influence the linearity, repeatability, hysteresis and other static characteristics of the electro-hydraulic proportional valve.
The concept of Halbach permanent magnet array was first proposed by Klaus Halbach professor of Larensbackril national laboratory, and was successively and successfully applied in the 90 th century by research institutions at home and abroad in the high-energy physics fields of new generation of particle accelerators, free electron laser devices, synchrotron radiation devices, etc. The Halbach array is a novel permanent magnet arrangement mode, and permanent magnets with different magnetization directions are arranged according to a certain sequence, so that the magnetic field on one side of the array is obviously enhanced, the magnetic field on the other side of the array is obviously weakened, and the magnetic field which is more ideal in space and is distributed in a sine way can be easily obtained. These characteristics of Halbach arrays make them have broad application prospects in the fields of electromagnetic components and permanent magnet motors, and Halbach arrays have received extensive attention in both academia and industry. Over the last decade, there has been a lot of literature associated with Halbach arrays in authoritative journals and international conferences. Some well-known universities (e.g., MIT, tokyo university) have conducted significant research into the use of Halbach arrays.
Disclosure of Invention
The invention provides a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling, which aims to solve the problem that a mechanical compression-torsion coupling of a traditional 2D electro-hydraulic proportional reversing valve has influence on the linearity, repeatability, hysteresis and other static characteristics.
The invention discloses a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling, which comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and the Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve consisting of a valve core 8 and a valve body 9, the left end of the valve body 9 is provided with a bidirectional proportional electromagnet 2, the left end of the valve core 8 is provided with a bidirectional magnetic suspension coupling, and the valve core 8 is connected with the bidirectional proportional electromagnet 2 through the Halbach array bidirectional magnetic suspension coupling;
the Halbach array bidirectional magnetic suspension coupling comprises a linear bearing 5, a yoke 6, a fixed pin 7, an inclined wing rotor 13, a yoke Halbach array magnetic sheet 14, an inclined wing rotor Halbach array magnetic sheet 15 and a spring clamping ring 16, wherein the linear bearing 5 is sleeved on the fixed pin 7 and is arranged at the upper end and the lower end of the yoke 6 in order to enable the yoke 6 to only perform horizontal linear motion. The yoke 6 has two pole pieces on each of its front and rear sides and each is characterized by a 180 array about a vertical upward axis perpendicular to the plane of the yoke 6. The pole shoe surface of the yoke 6 is stuck with a yoke Halbach array magnetic sheet 14, and the upper and lower side wing surfaces corresponding to the pole shoe surface of the yoke 6 are stuck with Halbach array magnetic sheets 15 on the inclined-wing rotor 13, thereby forming magnetic repulsive force, and the magnetic repulsive force enables the inclined-wing rotor 13 to be suspended in the middle of the yoke 6 purely by magnetic force without any mechanical structure. The yoke Halbach array magnetic sheet 14 and the inclined-wing rotor Halbach array magnetic sheet 15 are combined by three magnetic blocks with different magnetization directions, so that the magnetic field at the air gap side of the array (namely, the gap between the yoke Halbach array magnetic sheet 14 and the inclined-wing rotor Halbach array magnetic sheet 15) is obviously enhanced, and the magnetic field at the air gap side is not obviously weakened, so that the air gap magnetic field strength and the electromagnetic rigidity of the whole magnetic suspension coupling are effectively improved, and the arrangement sequence of the magnetic blocks is shown in figure 8. The pole shoe surface of the yoke 6 and the wing surface of the inclined wing rotor 13 have the same inclination angle beta and are characterized by 180-degree array taking a vertical upward axis perpendicular to a horizontal plane as a central axis, so that two inclined working air gaps with the same height are formed, and the inclined wing rotor 13 is rotatably arranged at the middle position of the yoke 6 and can rotate for a certain angle.
The valve core 8 is rotatably and axially movably arranged in the inner bore of the valve body 9. The bidirectional proportional electromagnet 2 is fixed on the left end cover 4. The valve body 9 is provided with a T port, an A port, a P port, a B port and a T port in sequence, wherein the P port is an oil inlet, the pressure is the system pressure, the middle part of the valve core 8 is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port. The valve core 8 of the 2D valve and the inclined wing rotor 13 of the two-way magnetic suspension coupling are connected through keys and are axially fixed through spring clamping rings. In addition, a high-pressure hole a communicated with the P port is formed in the middle part of the valve core 8 (symmetrical center positions of four shoulders on the valve core), and a first high-pressure circular hole b communicated with the left sensitive cavity g is formed in the left end of the valve core 8. The first high-pressure circular hole b enables the left sensitive cavity g to constantly pass high pressure, and a pair of second high-pressure circular holes (c) and low-pressure circular holes (f) which are respectively communicated with the P port and the T port are formed in the right shoulder of the valve core 8. Meanwhile, a sensing channel e communicated with the right sensitive cavity h is correspondingly formed on the inner hole wall at the right end of the valve body 9. The first high-pressure circular hole b at the left end, the second high-pressure circular hole (c) at the right end, the low-pressure circular hole (f) and the sensing channel e form a four-way rotary valve, and are connected in series to form a hydraulic resistance half-bridge to control the pressures of the left sensitive cavity g and the right sensitive cavity h at the two ends of the valve core 8. The closed cavity formed by the left end part of the left-end bidirectional proportional electromagnet 2, the left end part of the valve body 9 and the left end cover 4 is a left sensitive cavity g, the right sensitive cavity h is a closed cavity formed by the valve core 8, the inner hole of the valve body 9 and the end plate 12, and the bidirectional magnetic suspension coupling is arranged in the sensitive cavity g. The two springs 3 are respectively arranged at two sides of the two-way magnetic suspension coupling, mainly realize the conversion of the output force and displacement of the two-way proportion electromagnet 2, and play a role in eliminating the clearance and zero centering (when the two-way proportion electromagnet 2 is not electrified, the pilot bridge rotates for centering, and the axial opening of the main valve is in a zero centering state).
Preferably, the left end cover 4 is fixed on the valve body 9 of the 2D valve, the ring plug 11 is placed in the inner hole on the right side of the valve body 9, and in order to prevent oil in the 2D valve from leaking from the right side of the valve body 9, the end plate 12 is fixed on the right end of the valve body 9.
The beneficial effects of the invention are mainly shown in the following steps:
1. the two-dimensional half-bridge electrohydraulic proportional reversing valve designed by the invention adopts a non-contact magnetic suspension design, so that the influence of inherent gaps and friction wear of a compression-torsion coupling on the linearity, repeatability, hysteresis and other static characteristics of the valve is fundamentally avoided.
2. The two-dimensional half-bridge electrohydraulic proportional reversing valve designed by the invention has the advantages that the bidirectional magnetic suspension coupling can realize bidirectional torque, and can realize the function of bidirectional proportional control by being matched with a bidirectional linear electro-mechanical converter.
3. The two-dimensional half-bridge electrohydraulic proportional reversing valve designed by the invention has the advantages that oil-free liquid flows in the valve cavity after the depressurization, the valve core is not subjected to the action of hydraulic power and clamping force, so that electromagnetic thrust generated after the electric-mechanical converter is electrified can directly drive the valve core to move, and the working principle is the same as that of a direct-drive valve at the moment, so that the so-called pilot and direct-drive integrated control is realized; for the traditional pilot-stage electrohydraulic control element, the action of the power-stage main valve core depends on stable pilot pressure, and once the system loses pressure, the main valve core cannot be driven to move axially through the change of the pressure of the sensitive cavity, so that the valve cannot work.
4. The two-dimensional half-bridge type electrohydraulic proportional reversing valve designed by the invention adopts a two-dimensional flow amplifying mechanism with double degrees of freedom of the valve core, integrates a guide control stage and a power stage on a single valve core, and greatly improves the power-weight ratio while simplifying the structure and reducing the processing cost.
5. The two-dimensional half-bridge electrohydraulic proportional reversing valve designed by the invention adopts a Halbach array to change the integral magnetic sheets on a magnetic suspension coupling yoke 6 and an inclined wing rotor 13 into a combination of a plurality of magnetic blocks on the premise of not changing the material size of a permanent magnet and the size of a working air gap, and the magnetic blocks with different magnetization directions are arranged according to a certain sequence, so that the magnetic field on one side (air gap side) of the array is obviously enhanced, and the magnetic field on the other side (non-air gap side) is obviously weakened, namely 'magnetic unilateral characteristic', thereby effectively improving the air gap magnetic field intensity and the electromagnetic rigidity of the whole magnetic suspension coupling, and increasing the dynamic response of the valve.
Drawings
FIG. 1 is an assembly schematic diagram of a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling;
FIG. 2 is an assembled schematic view of a Halbach array bi-directional magnetic levitation coupling;
fig. 3 is an assembly schematic diagram of a Halbach array bidirectional magnetic suspension coupling and a valve core 9;
fig. 4a is a schematic structural view of the yoke 6; fig. 4b is a schematic view of the structure of the yoke 6 at another angle;
fig. 5 is a schematic structural view of the oblique wing mover 13;
fig. 6 is a schematic structural view of the yoke Halbach array magnet sheet 14;
fig. 7 is a schematic structural diagram of a Halbach array magnetic sheet 15 of the oblique wing mover;
FIG. 8 is a schematic diagram of a Halbach array magnet set;
fig. 9a to 9d are schematic diagrams of driving force and motion decomposition of a two-dimensional half-bridge electro-hydraulic proportional reversing valve, wherein fig. 9a is a schematic diagram of an initial balance state of the two-dimensional half-bridge electro-hydraulic proportional reversing valve, fig. 9b is a schematic diagram of valve core rotation after the two-dimensional half-bridge electro-hydraulic proportional reversing valve is electrified, fig. 9c is a schematic diagram of axial movement of the valve core of the two-dimensional half-bridge electro-hydraulic proportional reversing valve, and fig. 9d is a schematic diagram of the two-dimensional half-bridge electro-hydraulic proportional reversing valve reaching a new balance state.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 9, a two-dimensional half-bridge electro-hydraulic proportional reversing valve based on a Halbach array bidirectional magnetic suspension coupling comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve composed of a valve core 8 and a valve body 9, a bidirectional proportional electromagnet 2 is installed at the left end of the valve body 9, and the left end of the valve core 8 is provided with a bidirectional magnetic suspension coupling through which the valve core 8 is connected with the bidirectional proportional electromagnet 2. The Halbach array bidirectional magnetic suspension coupling body comprises a linear bearing 5, a yoke 6, a fixed pin 7, an inclined wing rotor 13, a yoke Halbach array magnetic sheet 14, an inclined wing rotor Halbach array magnetic sheet 15 and a spring clamping ring 16, wherein the linear bearing 5 is sleeved on the fixed pin 7 and is arranged at the upper end and the lower end of the yoke 6, so that the yoke 6 can only do horizontal linear motion. Two pole shoes are respectively arranged on two sides of the yoke 6 and are characterized by 180-degree array taking a vertical upward axis perpendicular to the plane of the yoke 6 as a central axis; the pole shoe surface of the yoke 6 is stuck with a yoke Halbach array magnetic sheet 14, and the upper and lower side wing surfaces corresponding to the pole shoe surface of the yoke 6 are stuck with Halbach array magnetic sheets 15 on the inclined-wing rotor 13, thereby forming magnetic repulsive force, so that the inclined-wing rotor 13 is suspended in the middle of the yoke 6 purely by magnetic force without any mechanical structure. The yoke Halbach array magnetic sheet 14 and the inclined-wing rotor Halbach array magnetic sheet 15 are combined by three magnetic blocks with different magnetization directions, so that the magnetic field at the air gap side of the array (namely, the gap between the yoke Halbach array magnetic sheet 14 and the inclined-wing rotor Halbach array magnetic sheet 15) is obviously enhanced, and the magnetic field at the air gap side is not obviously weakened, so that the air gap magnetic field strength and the electromagnetic rigidity of the whole magnetic suspension coupling are effectively improved, and the arrangement sequence of the magnetic blocks is shown in figure 8. The pole shoe surface of the yoke 6 and the wing surface of the inclined wing rotor 13 have the same inclination angle beta and are characterized by 180-degree array taking a vertical upward axis perpendicular to a horizontal plane as a central axis, so that two inclined working air gaps with the same height are formed, and the inclined wing rotor 13 is rotatably arranged at the middle position of the yoke 6 and can rotate for a certain angle.
The invention relates to a 180-degree array feature taking a certain axis as a central axis, which is a feature description of a three-dimensional structure. The three-dimensional structure is characterized by common knowledge in the field of mechanical engineering, and is introduced in conventional design software and published documents which are used by the public before the application date. The "circumferential array" function in the SolidWorks software version 2015 can accomplish the 180 array feature. In addition, there is a description of a three-dimensional structure of "180 ° array feature about a certain axis" in "pulp-wing torque motor feedback characteristics study" published by Meng Bin et al (source "Meng Bin, shentusheng man, lin Qiong, ruan Jian. Pulp-wing torque motor feedback characteristics study [ J ]. Agricultural machinery theory, 2017,48 (01): 361-367.").
The oblique wing mover 13 is not required to be in any mechanical structure, and is suspended in the middle of the yoke 6 purely by magnetic force, and the calculation method of the required magnetic force is referred to a calculation formula of the maximum repulsive force and attractive force between two integral permanent magnet sheets in a gap state, which is disclosed in Zhao Fengtong et al (in Zhao Fengtong, wang Shuwen. Calculation of the force between permanent magnets [ J ]. Jilin institute of technology, 1991 (01): 9-13. "):
wherein: bg—the magnetization of the permanent magnet;
ag—the magnetic pole area of the permanent magnet ag=x×y;
lg, the gap between two integral permanent magnet pieces;
a, a correction coefficient, generally taking a=3 to 5, taking a large value when the gap is large and taking a small value when the gap is small;
the magnetic plate of the bidirectional magnetic suspension coupling is made of a neodymium-iron-boron permanent magnetic material. Residual magnetic induction br=1.555T, intrinsic coercivity hcj=653 kA/m, maximum magnetic energy product (BH) of sintered neodymium-iron-boron magnet (Nd-Fe-B) max ＝474kJ/m 3 。
Then the magnetic sheet of the Halbach array mode is designed by calculating the obtained magnetic force. The Halbach array magnetic sheet can strengthen the magnetic force on one side, and the principle of the unilateral strengthening is shown in figure 8.
The pole shoe surface of the yoke 6 is stuck with a yoke Halbach array magnetic sheet 14, and the upper and lower side wing surfaces corresponding to the pole shoe surface of the yoke 6 on the oblique wing rotor 13 are stuck with Halbach array magnetic sheets 15. The inclined-wing mover 13 is suspended in the middle of the yoke 6 by a magnetic repulsive force generated between the Halbach array magnetic sheet 14 and the Halbach array magnetic sheet 15, which is a typical magnetic repulsive structure. Hou Junxing (in "Hou Junxing" for the design of a magnetic levitation system for a tracked electric vehicle [ D ] for the university of Henan agriculture, 2006. ") describes a magnetic repulsion structure, in which a base is fixed, a levitation body is guided to move up and down in a vertical direction, a magnetic pole pitch is changed, magnetic lines of force are compressed or relaxed, and a magnetic line of force is increased or decreased, so that a magnetic force is also changed.
The two-dimensional half-bridge type electro-hydraulic proportional reversing valve body is a 2D valve composed of a valve core 8 and a valve body 9, and the valve core 8 is rotatably and axially movably arranged in an inner hole of the valve core 9. The bidirectional proportional electromagnet 2 is fixed on the left end cover 4 by a screw 1, and the left end cover 4 is fixed on the valve body 9 of the 2D valve by a screw 10. The ring plug 11 is placed in the inner hole on the right side of the valve body 9, prevents oil in the 2D valve from leaking from the right side of the valve body 9, and is fixed on the right end of the valve body 9 by the end plate 12 through the screw 10. The valve body 9 is provided with a T port, an A port, a P port, a B port and a T port in sequence, wherein the P port is an oil inlet, the pressure is the system pressure, the middle part of the valve core 8 is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port. The valve core 8 of the 2D valve and the inclined wing rotor 13 of the bidirectional magnetic suspension coupling are connected through keys and are axially fixed through spring clamping rings. In addition, a high-pressure hole a communicated with the P port is formed in the middle of the valve core 8, and a first high-pressure circular hole b communicated with the left sensitive cavity g is formed in the left end of the valve core 8. The first high-pressure circular hole b enables the left sensitive cavity g to constantly pass high pressure, and a pair of second high-pressure circular holes (c) and low-pressure circular holes (f) which are respectively communicated with the P port and the T port are formed in the right shoulder of the valve core 8. Meanwhile, a sensing channel e communicated with the right sensitive cavity h is correspondingly formed in the inner hole wall at the right end of the valve body 9, a four-way rotary valve is formed by a first high-pressure circular hole b at the left end, a second high-pressure circular hole (c) at the right end, a low-pressure circular hole (f) and the sensing channel, and the four-way rotary valve is connected in series to form a hydraulic resistance half-bridge to control the pressures of the left sensitive cavity g and the right sensitive cavity h at the two ends of the valve core 8. The left sensitive cavity g is a closed cavity formed by the left end bidirectional proportional electromagnet 2, the left end part of the valve body 9 and the left end cover 4, the right sensitive cavity h is a closed cavity formed by the valve core 8, the inner hole of the valve body 9 and the end plate 12, and the bidirectional magnetic suspension coupling is arranged in the left sensitive cavity g. The two springs 3 are respectively arranged at two sides of the two-way magnetic suspension coupling, mainly realize the conversion of the output force and displacement of the two-way proportion electromagnet 2, and play a role in eliminating the clearance and zero centering (when the two-way proportion electromagnet 2 is not electrified, the pilot bridge rotates to center, and the axial opening of the main valve is in a zero centering state).
The two-dimensional half-bridge electro-hydraulic proportional reversing valve adopts a commercial product which is mature in the market at present, and the main function of the Halbach array two-way magnetic suspension coupling is to convert the axial thrust generated by the two-dimensional half-bridge electro-hydraulic proportional reversing valve 2 into tangential force, amplify the tangential force and drive the valve core 8 to rotate so that the rotation angle is within +/-2 degrees and the translational displacement is within +/-2.5 mm.
The working principle of the invention is shown in fig. 9a to 9 d. As shown in fig. 9a, when the two-way proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional directional valve is not energized, the yoke 6 remains stationary. At this time, since the heights of the two inclined air gaps between the inclined-wing mover 13 and the yoke 6 are equal, the repulsive force generated between the inclined-wing mover Halbach array magnetic sheet 15 and the inclined-wing mover Halbach array magnetic sheet 14 is equal, i.e., the valve core 8 is in a balanced state. As shown in FIG. 9b, when the two-way proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve outputs an F to the right m During thrust of the two-way magnetic suspension coupling, the yoke 6 slides rightwards under the circumferential constraint of the fixed pin 7; at the same time, the compression amount of the right-end spring 3 is increased, and the increased spring force and the thrust force F generated by the bidirectional proportional electromagnet 2 m Phase balance. At this time, the inclined air gap height of the bidirectional magnetic suspension couplingChange (d) 1 And d 2 ，d 1 >d，d 2 <d) The magnetic repulsion force of the lower airfoil surface on the front side of the inclined-wing rotor 13 is increased, the magnetic repulsion force of the upper airfoil surface is reduced, the magnetic repulsion force of the lower airfoil surface on the rear side is reduced, and the magnetic repulsion force of the upper airfoil surface is increased. Therefore, the valve element 8 is no longer in a balanced state, and the valve element 8 receives an axial driving force to the right and a torque to the counterclockwise direction (seen from the left to the right). (it is explained that under the working condition of high pressure and large flow, the valve core 5 can not be directly driven to move axially by the influence of hydrodynamic force, the rotation of the valve core 5 can be performed, the rotation angle of the valve core 8 is delta theta), in the process, as the valve core 8 rotates anticlockwise, the communication areas of the second high-pressure circular hole (c), the low-pressure circular hole (f) and the sensing channel e at the right end change, so that the pressure of the right sensing cavity h of the valve is reduced, and the differential pressure valve core 8 can move axially. As shown in fig. 9c, the valve element 8 moves axially by Δx to the right, and oil flows from port P to port B, and port a to port T. In the right shift process, the inclined air gap height of the bidirectional magnetic suspension coupling is changed again due to the paddle structure of the yoke 6 (d 3 And d 4 ，d 3 <d，d 4 >d) The magnetic repulsive force born by the lower airfoil surface at the front side of the inclined-wing rotor 13 is reduced, and the magnetic repulsive force of the upper airfoil surface is increased; the magnetic repulsive force exerted by the lower airfoil surface on the rear side increases and the magnetic repulsive force exerted by the upper airfoil surface decreases. As can be seen from the foregoing force analysis, this causes the spool 8 to rotate synchronously (i.e., clockwise). As a result of the back rotation, as shown in FIG. 9d, the pressure in the right sensing chamber h increases until the pressure in the sensing chambers (g and h) at the two ends of the valve core 8 is restored to the previous equilibrium value, and the valve core 8 reaches a thrust F with the bidirectional proportional electromagnet 2 m Corresponding new equilibrium positions. When the two-way proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve outputs F leftwards m The situation is reversed when the thrust is applied. After the two-way proportional electromagnet 2 of the two-dimensional electro-hydraulic proportional reversing valve is powered off, the two-way proportional electromagnet 2 does not generate thrust F any more m The yoke 6 of the two-way magnetic levitation coupling is slid in the opposite direction (i.e., the movement direction is opposite to the movement direction of the yoke 6 when energized) under the circumferential constraint of the fixing pin 7. At the same time, the compression amount of the right-end spring 3 is reducedSmall thrust F lost by the bidirectional proportional electromagnet 2 m Phase balance. Due to the left movement of the yoke 6, the inclined air gap height of the two-way magnetic levitation coupling is changed, and corresponding axial driving force and torque are generated, so that the valve core 8 and the inclined wing rotor 13 return to the original positions. It should be noted that, under the working condition that the pressure of the port P of the valve is zero (equal to the pressure of the port T), the two-dimensional reversing valve cannot control the pressures of the sensitive cavities (g and h) at two ends so as to drive the valve core to axially move. However, at this time, because the oil-free liquid in the valve cavity flows, the valve core 8 is not influenced by hydrodynamic force and clamping force, the valve core 8 can be directly driven by electromagnetic thrust generated by the bidirectional proportional electromagnet 2, and at this time, the working principle of the two-dimensional electro-hydraulic proportional reversing valve is consistent with that of the direct-acting proportional valve.
The mechanism of the inclined wing rotor 13 driving the valve core 5 to rotate can be simplified into the working principle of the roller pin shaft driving the valve core to rotate in the valve core high and low pressure hole design and experiment research of the inclined groove type 2D servo valve (in Luo Fangzan, jin Dingcan, the valve core high and low pressure hole design and experiment research [ J ] machine tool and hydraulic pressure, 2017,45 (07): 51-53+6) ") published by Luo Fangzan and the like. The yoke 6 of the bidirectional magnetic levitation oblique wing section moves axially, so that the heights of 4 oblique working air gaps of the bidirectional magnetic levitation oblique wing section are correspondingly changed, and the oblique wing rotor 13 of the bidirectional magnetic levitation oblique wing section outputs a magnetic moment and an axial force.
The embodiments described in the present specification are merely examples of implementation forms of the inventive concept, and the scope of protection of the present invention should not be construed as being limited to the specific forms set forth in the embodiments, and the scope of protection of the present invention and equivalent technical means that can be conceived by those skilled in the art based on the inventive concept.
Claims (2)
1. Two-dimensional half-bridge type electrohydraulic proportional reversing valve based on Halbach array two-way magnetic suspension coupling, characterized in that: the two-dimensional half-bridge electro-hydraulic proportional reversing valve comprises a two-dimensional half-bridge electro-hydraulic proportional reversing valve body, a proportional electromagnet and a Halbach array bidirectional magnetic suspension coupling, wherein the two-dimensional half-bridge electro-hydraulic proportional reversing valve body is a 2D valve formed by a valve core (8) and a valve body (9), the left end of the valve body (9) is provided with a bidirectional proportional electromagnet (2), the left end of the valve core (8) is provided with the bidirectional magnetic suspension coupling, and the valve core (8) is connected with the bidirectional proportional electromagnet (2) through the Halbach array bidirectional magnetic suspension coupling;
the Halbach array bidirectional magnetic suspension coupling comprises a linear bearing (5), a yoke (6), a fixed pin (7), an oblique wing rotor (13), a yoke Halbach array magnetic sheet (14), an oblique wing rotor Halbach array magnetic sheet (15) and a spring clamping ring (16), wherein in order to enable the yoke (6) to only perform horizontal linear motion, the linear bearing (5) is sleeved on the fixed pin (7) and is arranged at the upper end and the lower end of the yoke (6); the front side and the rear side of the yoke (6) are respectively provided with two pole shoes, and the pole shoes are characterized by 180-degree array taking a vertical upward axis perpendicular to the plane of the yoke (6) as a central axis; the pole shoe surface of the yoke (6) is stuck with a yoke Halbach array magnetic sheet (14), the upper and lower side wing surfaces corresponding to the pole shoe surface of the yoke (6) are stuck with Halbach array magnetic sheets (15) on the oblique wing rotor (13), the oblique wing rotor (13) is suspended in the middle of the yoke (6) by magnetic force, and the calculation formula of the required magnetic force is as follows:
wherein: bg—the magnetization of the permanent magnet;
ag—the magnetic pole area of the permanent magnet ag=x×y;
lg, the gap between two integral permanent magnet pieces;
a, a correction coefficient, wherein a=3-5 is taken, a large value is taken when the gap is large, and a small value is taken when the gap is small;
the yoke iron Halbach array magnetic sheet (14) and the inclined wing rotor Halbach array magnetic sheet (15) are combined by three magnetic blocks with different magnetization directions, so that the magnetic field at the air gap side of the array is obviously enhanced, but not the air gap side is obviously weakened; the pole shoe surface of the yoke (6) and the two side wing surfaces of the inclined wing rotor (13) have the same inclination angle beta and are characterized by 180-degree array taking a vertical upward axis perpendicular to a horizontal plane as a central axis, so that two inclined working air gaps with the same height are formed, and the inclined wing rotor (13) is rotatably arranged in the middle of the yoke (6);
the valve core (8) can rotate and can be axially movably arranged in an inner hole of the valve body (9); the bidirectional proportional electromagnet (2) is fixed on the left end cover (4); the valve body (9) is provided with a T port, an A port, a P port, a B port and a T port in sequence, wherein the P port is an oil inlet, the pressure at the P port is the system pressure, the middle part of the valve core (8) is provided with two shoulders, and the two middle shoulders are respectively positioned above the A port and the B port; the valve core (8) of the 2D valve is connected with the inclined wing rotor (13) of the bidirectional magnetic suspension coupling through a key, and is axially fixed through a spring clamping ring; the middle part of the valve core (8) is provided with a high-pressure hole (a) communicated with the P port, and the left end of the valve core (8) is provided with a first high-pressure circular hole (b) communicated with the left sensitive cavity (g); the first high-pressure circular hole (b) enables the left sensitive cavity (g) to constantly pass high pressure, and the right end shoulder of the valve core (8) is provided with a pair of second high-pressure circular holes (c) and low-pressure circular holes (f) which are respectively communicated with the P port and the T port; the inner hole wall at the right end of the valve body (9) is correspondingly provided with a sensing channel (e) communicated with the right sensitive cavity (h); the first high-pressure circular hole (b) at the left end, the second high-pressure circular hole (c) at the right end, the low-pressure circular hole (f) and the sensing channel (e) form a four-way rotary valve, and are connected in series to form a hydraulic resistance half-bridge to control the pressure of a left sensitive cavity (g) and a right sensitive cavity (h) at two ends of the valve core (8); the left end of the valve body (9) is provided with a left end cover (4) and a right end cover (2), a left end of the valve body (9) is provided with a left end sensitive cavity (g), a right end sensitive cavity (h) is provided with a valve core (8), an inner hole of the valve body (9) and an end plate (12), and the two-way magnetic suspension coupling is arranged in the sensitive cavity (g); two springs (3) are respectively arranged at two sides of the Halbach array bidirectional magnetic suspension coupling.
2. The two-dimensional half-bridge electro-hydraulic proportional reversing valve based on Halbach array bidirectional magnetic suspension coupling as set forth in claim 1, wherein: the left end cover (4) is fixed on a valve body (9) of the 2D valve, a ring plug (11) is arranged in an inner hole on the right side of the valve body (9), and in order to prevent oil in the 2D valve from leaking from the right side of the valve body (9), an end plate (12) is fixed at the right end of the valve body (9).
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| CN111396385A (en) * | 2020-03-10 | 2020-07-10 | 浙江工业大学 | Two-dimensional force feedback type electro-hydraulic servo valve |
| CN111664139B (en) * | 2020-03-10 | 2024-06-11 | 浙江工业大学 | Double-freedom moment motor based on annular air gap |
| CN112065796B (en) * | 2020-08-12 | 2024-06-11 | 浙江工业大学 | Electric excitation type two-dimensional half-bridge servo proportional valve |
| CN113236620A (en) * | 2021-04-15 | 2021-08-10 | 中国矿业大学 | Three-position four-way electro-hydraulic proportional reversing valve |
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